CN113275261B - Sorting device and method for movable iron core of electromagnet - Google Patents
Sorting device and method for movable iron core of electromagnet Download PDFInfo
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- CN113275261B CN113275261B CN202110568231.2A CN202110568231A CN113275261B CN 113275261 B CN113275261 B CN 113275261B CN 202110568231 A CN202110568231 A CN 202110568231A CN 113275261 B CN113275261 B CN 113275261B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/367—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means
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Abstract
The invention discloses a sorting device and a sorting method for a movable iron core of an electromagnet, and relates to the field of quality detection. The invention has the advantages of labor saving, high sorting precision and good accuracy.
Description
Technical Field
The invention relates to the field of quality detection, in particular to a sorting device and a sorting method for a movable iron core of an electromagnet.
Background
The electromagnet is seen everywhere in production and life of the current enterprises, the working principle of the electromagnet is that an electrified coil generates electromagnetic force to push a movable iron core to move, but the electromagnet has some problems in manufacturing engineering, particularly the movable iron core of an actuating mechanism.
For example, the movable iron core is too large in size, so that the movable iron core is assembled too tightly and is hindered in movement, if the movable iron core is too small in size, the movable iron core is assembled too loosely and is not enough in levelness during movement, the movable iron core can normally move only within a tolerance range, the service life of the movable iron core can be guaranteed to the maximum extent, in addition, the movable iron core is designed to be small in size, the tolerance range is smaller, and more than one critical dimension is provided, so that the movable iron core is not easy to sort in production and manufacturing.
Disclosure of Invention
In order to overcome the defects of the background art, the invention provides the sorting device and the method of the electromagnet movable iron core, which have the advantages of labor saving, high sorting precision and good accuracy.
The technical scheme adopted by the invention is as follows: the utility model provides a sorting device of movable iron core of electro-magnet, includes conveying track, infrared scanning device, electron drawing transmission device, sensitization board, image contrast appearance, controlling means and recovery unit, recovery unit and sensitization board are in conveying track one side, infrared scanning device at conveying track opposite side foremost and with the sensitization board is corresponding, infrared scanning device's rear is image contrast appearance, electron drawing transmission device and controlling means in proper order, the last air nozzle that is arranged in blowing movable iron core into recovery unit that is equipped with of controlling means, all be connected through the data line respectively between image contrast appearance and controlling means, sensitization board and the electron drawing transmission device.
The control device adopts a Mamdani type fuzzy controller.
The sorting method of the electromagnet movable iron core adopts the sorting device of the electromagnet movable iron core, and comprises the following steps:
step A: the movable iron core is placed on a conveying track and conveyed to an infrared scanning device, the infrared scanning device emits infrared rays to scan the whole movable iron core, and the infrared rays are blocked by the movable iron core, so that a shadow area of the movable iron core is left on the light sensing plate;
and B: comparing the shadow area of the movable iron core with the key size on the electronic drawing to obtain the difference value of the key size, and then transmitting the difference value serving as input data to a Mamdani type fuzzy controller;
and C: and (4) outputting a final operation command through data processing of a Mamdani type fuzzy controller, and blowing the movable iron core into the recovery device by the air nozzle according to the command.
The step B comprises the following steps:
b1, taking the difference value as a discourse domain of the Mamdani type fuzzy control, and then performing fuzzification processing on the discourse domain; converting the numbers in the discourse domain range into three fuzzy subsets by using triangular fuzzy numbers according to the characteristics of the difference values to obtain two pieces of uncertain information;
b2, fusing the two uncertain information by a D-S evidence theory;
step B3, converting the domain of discourse into a fuzzy subset, and converting the input fuzzy subset into an output fuzzy subset through a fuzzy control rule;
step B4, because the output result is a fuzzy subset, the fuzzy subset needs to be clarified; and adopting a maximum value method in the maximum membership degree method to clarify the output fuzzy subset.
The domain of discourse is divided into [ -0.4,0.4];
the step B1 adopts the following formula:
l (Large) subset:
subset N (Normal):
subset S (Small):
the expression of D-S fusion in the step B2 is as follows:
wherein m (c), m (x) and m (y) respectively represent the membership degrees of c, x and y; c satisfies
m i (x)、m i (y) representing the membership degree in the ith evidence, and marking the identification frame as all results which can occur in one event as theta; the identification frame is θ = { S, N, L }.
The invention has the beneficial effects that: according to the technical scheme, the infrared scanning device emits infrared rays to scan the movable iron core on the conveying track, and the shadow area of the movable iron core is left on the photosensitive plate because the infrared rays are blocked by the movable iron core; the shadow area of the movable iron core is compared with the key size on the electronic drawing to obtain the difference value of the key size, then the difference value is used as input data to be transmitted to the control device, the control device triggers the corresponding air nozzle to blow the movable iron core to the corresponding recovery device, the sorting work of the movable iron core is completed, and the method has the advantages of labor saving and high sorting precision;
in addition, the traditional Mamdani fuzzy controller is optimized by using a D-S evidence theory, so that the blank of fusion of various uncertain information in the Mamdani fuzzy control system is made up; the sorting speed is high, the warehouse space is not occupied, the accuracy is high, and repeated sorting is not needed.
Drawings
Fig. 1 is a schematic structural diagram of a sorting device for an electromagnet movable iron core according to an embodiment of the present invention.
Fig. 2 is a flow chart of the sorting steps of the electromagnet movable iron core.
Fig. 3 is an example of a triangular blur number distribution.
FIG. 4 is a maximum membership maximum sharpening model.
Fig. 5 is a schematic diagram of the Mamdani type fuzzy control.
Fig. 6 is a flow of data processing in the Mamdani type fuzzy control.
Detailed Description
The embodiments of the invention will be further described with reference to the accompanying drawings in which:
as shown in the figure, the sorting device for the movable iron core of the electromagnet comprises a conveying crawler belt 8, an infrared scanning device 3, an electronic drawing transmission device 4, a photosensitive plate 1, an image comparator 5, a control device 6 and a recovery device 9, wherein the recovery device and the photosensitive plate are arranged on one side of the conveying crawler belt, the infrared scanning device is arranged at the foremost end of the other side of the conveying crawler belt and corresponds to the photosensitive plate, the image comparator, the electronic drawing transmission device and the control device are sequentially arranged behind the infrared scanning device, an air nozzle 7 used for blowing the movable iron core into the recovery device is arranged on the control device, and the image comparator, the control device, the photosensitive plate and the electronic drawing transmission device are respectively connected through data lines; the control device adopts a Mamdani type fuzzy controller; according to the technical scheme, the infrared scanning device emits infrared rays to scan the movable iron core on the conveying track, and the shadow area of the movable iron core is left on the light sensing plate because the infrared rays are blocked by the movable iron core 2; the shadow area of the movable iron core is compared with the key size on the electronic drawing to obtain the difference value of the key size, then the difference value is used as input data to be transmitted to the control device, the control device triggers the corresponding air nozzles to blow the movable iron core to the corresponding recovery device, the sorting work of the movable iron core is completed, and the electronic drawing sorting device has the advantages of labor saving and high sorting precision.
The sorting method of the electromagnet movable iron core adopts the sorting device of the electromagnet movable iron core, and comprises the following steps:
step A: the movable iron core is placed on a conveying track and conveyed to an infrared scanning device, the infrared scanning device emits infrared rays to scan the whole movable iron core, and the infrared rays are blocked by the movable iron core, so that a shadow area of the movable iron core is left on the light sensing plate;
and B, step B: comparing the shadow area of the movable iron core with the key size on the electronic drawing to obtain the difference value of the key size, and then transmitting the difference value serving as input data to a Mamdani type fuzzy controller;
step C: and (4) outputting a final operation command through data processing of the Mamdani type fuzzy controller, and blowing the movable iron core into the recovery device by the air nozzle according to the command.
The step B comprises the following steps:
b1, taking the difference value as a domain of discourse of the Mamdani type fuzzy control, and then carrying out fuzzification processing on the domain of discourse; converting the numbers in the discourse domain range into three fuzzy subsets by using triangular fuzzy numbers according to the characteristics of the difference values to obtain two pieces of uncertain information;
b2, fusing the two uncertain information by a D-S evidence theory;
step B3, converting the domain of discourse into a fuzzy subset, and converting the input fuzzy subset into an output fuzzy subset through a fuzzy control rule;
step B4, because the output result is a fuzzy subset, the fuzzy subset needs to be clarified; adopting a maximum value method in a maximum membership method to clarify the output fuzzy subset; the maximum method in the maximum membership method is to select the fuzzy subset to obtain the maximum value in the maximum membership, for example, as shown in fig. 4, when the maximum membership is 0.75, the difference between 0.15 and 0.25 is 0.75, and then the maximum method is to take 0.25 as the clarified value of the fuzzy subset.
The domain of discourse is divided into [ -0.4,0.4];
the step B1 adopts the following formula:
l (Large) subset:
subset N (Normal):
subset S (Small):
for example, when the difference is 0.15, the formula is calculated according to the triangular fuzzy number of N, and thenDegree of membership of
If the formula is calculated according to the triangular fuzzy number of L, the membership degree is
If the fusion of the two uncertain information is not considered, the two uncertain information is determined as N or L if not considered, so that the result output by the Mamdani fuzzy controller has a larger error, and the two uncertain information are fused by selecting a D-S evidence theory.
The theory of D-S evidence can be roughly divided into three parts: identifying a frame, namely all results which can possibly occur to an event, and recording the results as theta; the identification frame is θ = { S, N, L }. Furthermore, all elements contained in θ are independent and do not affect each other. The Basic Probability distribution function (BPA) in the D-S theory is used to express the uncertainty between each primitive, so as to realize the identification of the identification frame θ, where the BPA in the patent is the membership of the identification frame θ corresponding to the actual size difference of the movable iron core mapped by the photosensitive plate. The BPA of the identification frame theta is divided into a trust function Bel (Belief function) and a likelihood function Pl (Plausibility function), wherein the trust function Bel reflects a lower trust limit on the identification frame theta, the likelihood function Pl reflects an upper trust limit on the identification frame theta, and the two functions represent practical meanings based on the BPA, so the two functions are considered in a synthesis process, and the accuracy of multi-information fusion is improved.
The expression of D-S fusion in the step B2 is as follows:
wherein m (c), m (x) and m (y) respectively represent the membership degrees of c, x and y; c satisfies
m i (x)、m i (y) representing the membership degree in the ith evidence, and marking the identification frame as all results which can occur in one event as theta; identifying a frame as θ = { S, N, L }; where c, x, y represent the results occurring within the recognition framework and i represents the code number of the chain of evidence.
When the difference is 0.15 according to the D-S theory, the degree of membership of N is
L degree of membership of
So that the result of the information fusion is
Referring to the triangular fuzzy number distribution diagram, the final fused result is L.
The fuzzy control rule of the step B3 is shown in Table 1:
TABLE 1 fuzzy control rules
The proper expression of the fuzzy control rule is that, here, the control rule of the first row and the first column is taken as an example:
if size a = S and size B = S then output = S,
the same applies to the remaining eight control rules.
The Mamdani fuzzy controller adopted by the technical scheme is optimized by using a D-S evidence theory, so that the blank of fusion of various uncertain information in the Mamdani fuzzy control system is made up; the sorting speed is high, the warehouse space is not occupied, the accuracy is high, and repeated sorting is not needed.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The skilled person should understand that: although the invention has been described in terms of the above specific embodiments, the inventive concept is not limited thereto and any modification applying the inventive concept is intended to be included within the scope of the patent claims.
Claims (1)
1. The sorting method of the electromagnet movable iron core is characterized in that the adopted sorting device of the electromagnet movable iron core comprises a conveying crawler belt (8), an infrared scanning device (3), an electronic drawing transmission device (4), a photosensitive plate (1), an image comparator (5), a control device (6) and a recovery device (9), wherein the recovery device and the photosensitive plate are arranged on one side of the conveying crawler belt, the infrared scanning device is arranged at the foremost end of the other side of the conveying crawler belt and corresponds to the photosensitive plate, the image comparator, the electronic drawing transmission device and the control device are sequentially arranged behind the infrared scanning device, an air nozzle (7) used for blowing the movable iron core into the recovery device is arranged on the control device, and the image comparator, the control device, the photosensitive plate and the electronic drawing transmission device are respectively connected through data lines; the control device adopts a Mamdani fuzzy controller,
the method comprises the following steps:
step A: the movable iron core is placed on a conveying track and conveyed to an infrared scanning device, the infrared scanning device emits infrared rays to scan the whole movable iron core, and the infrared rays are blocked by the movable iron core, so that a shadow area of the movable iron core is left on the light sensing plate;
and B: comparing the shadow area of the movable iron core with the key size on the electronic drawing to obtain the difference value of the key size, and then transmitting the difference value serving as input data to a Mamdani type fuzzy controller;
and C: outputting a final operation command through data processing of a Mamdani type fuzzy controller, and blowing the movable iron core into the recovery device by the air nozzle according to the command;
the step B comprises the following steps:
b1, taking the difference value as a discourse domain of the Mamdani type fuzzy control, and then performing fuzzification processing on the discourse domain; converting the numbers in the discourse domain range into three fuzzy subsets by using triangular fuzzy numbers according to the characteristics of the difference values to obtain two pieces of uncertain information;
b2, fusing the two uncertain information by a D-S evidence theory;
step B3, converting the domain of discourse into a fuzzy subset, and converting the input fuzzy subset into an output fuzzy subset through a fuzzy control rule;
step B4, because the output result is a fuzzy subset, the fuzzy subset needs to be clarified; the output fuzzy subset is clarified by adopting a maximum value method in a maximum membership degree method;
the domain of discourse is divided into [ -0.4,0.4];
the step B1 adopts the following formula:
l subset:
n subset:
s subset:
the expression of D-S fusion in the step B2 is as follows:
wherein m (c), m (x) and m (y) respectively represent the membership degrees of c, x and y; c satisfies
m i (x)、m i (y) representing the membership in the ith evidence, and marking the identification frame as all possible results of an event as theta; identifying a frame as θ = { S, N, L }; where c, x, y represent the results occurring within the recognition framework and i represents the code number of the chain of evidence.
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| FR2528972A1 (en) * | 1982-06-22 | 1983-12-23 | Duneau Patrick | Opto-electronic fruit diameter measuring appts. - projects real size shadow of fruit on plane with photoreceivers arranged in V=shape |
| CN102101110A (en) * | 2009-12-21 | 2011-06-22 | 上海爱普生磁性器件有限公司 | Magnet sorting device |
| CN102601061B (en) * | 2012-03-23 | 2014-03-05 | 杭州师范大学 | Automatic sorting device for defective products of pole pieces of timers |
| CN107886499B (en) * | 2017-10-13 | 2021-06-15 | 西安工程大学 | Object surface detection illumination system and illumination method |
| CN108760779A (en) * | 2018-06-29 | 2018-11-06 | 江苏法拉电子有限公司 | A kind of automatic detection device based on X-ray |
| CN110841934A (en) * | 2019-11-27 | 2020-02-28 | 广州小出钢管有限公司 | Detection device for passenger car pipe fitting |
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